The design of scaled robotic end effectors to mimic razor clam burrowing

Author(s)
Bollini, Mario Attilio
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Massachusetts Institute of Technology. Dept. of Mechanical Engineering.
Advisor
Anette Hosoi.
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Abstract
This thesis reviews the design of two scaled mechanical end effectors that mimic the digging of Ensis directus, the Atlantic Razor Clam. Modeled after a 0.5x Ensis scale device, the end effectors are 1.0x and 2.0x Ensis scale. The end effectors will be coupled to a pneumatic robotic actuator to explore the nondimensional relationships governing the digging dynamics of razor clams in littoral substrates. Such dynamics could be exploited to construct novel mimetic engineering devices which would provide an order-of-magnitude improvement over existing subsea burrowing and anchoring technologies.
Description
Thesis (S.B.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2009.
 
Cataloged from PDF version of thesis.
 
Includes bibliographical references (p. 75).
 
Date issued
2009
URI
http://hdl.handle.net/1721.1/54526
Department
Massachusetts Institute of Technology. Department of Mechanical Engineering
Publisher
Massachusetts Institute of Technology
Keywords
Mechanical Engineering.
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